CN111516449A - Method for actively adjusting vehicle suspension based on road surface condition and vehicle - Google Patents
Method for actively adjusting vehicle suspension based on road surface condition and vehicle Download PDFInfo
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- CN111516449A CN111516449A CN202010294738.9A CN202010294738A CN111516449A CN 111516449 A CN111516449 A CN 111516449A CN 202010294738 A CN202010294738 A CN 202010294738A CN 111516449 A CN111516449 A CN 111516449A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
Abstract
The invention relates to a method for actively adjusting a vehicle suspension based on road conditions and a vehicle. The method comprises the following steps: s1, scanning the road surface in the advancing direction of the vehicle by using a laser radar to obtain road surface scanning information; s2, processing the road surface scanning information to obtain road surface condition information; and S3, adjusting the vehicle suspension according to the road surface condition information. The vehicle of the present invention adjusts the vehicle suspension using the above-described method of actively adjusting the vehicle suspension based on the road surface condition. According to the invention, the laser radar is used for rapidly and accurately acquiring the road surface condition information of the vehicle advancing direction, so that the vehicle suspension is actively adjusted according to the road surface control condition information, and the driving experience of a user is improved.
Description
Technical Field
The invention relates to the field of vehicle suspension control, in particular to a method for actively adjusting a vehicle suspension based on road conditions and a vehicle.
Background
In recent years, the requirements of drivers on performances such as riding comfort and operation stability during vehicle running are continuously improved, and the fact that how to accurately identify the running condition of the vehicle and actively control the suspension is a hot spot of future intelligent suspension system research as a main factor influencing the performances of the suspension system.
In the conventional suspension control research, on one hand, when the automobile runs on different grades of road surfaces, because the abnormal conditions of the road surfaces, such as shapes and sizes of foreign matters, pits and bulges, deceleration strips and the like, cannot be continuously and accurately judged, the suspension system is difficult to be controlled in advance, and the optimal damping force is output to improve the performance of the suspension system. On the other hand, when the current intelligent active chassis works, the road interference is required to act on the front wheels of the vehicle in the driving process firstly, then the road signal can be collected and analyzed, and the active control and adjustment of the rear wheel suspension are realized through the pre-aiming control, so that the vehicle can not reasonably make a decision and optimally control the driving safety and comfort in time. Therefore, the current research on the intelligent suspension generally has the problems of low accuracy in identifying the running road surface of the vehicle, poor continuous and effective road surface signal acquisition degree, difficulty in realizing optimal control on a suspension system and the like.
Disclosure of Invention
The present invention provides a method for actively adjusting a vehicle suspension based on a road surface condition and a vehicle, aiming at the above-mentioned defects of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method of constructing a vehicle suspension that is actively adjusted based on road conditions, comprising:
s1, scanning the road surface in the advancing direction of the vehicle by using a laser radar to obtain road surface scanning information;
s2, processing the road surface scanning information to obtain road surface condition information;
and S3, adjusting the vehicle suspension according to the road surface condition information.
Further, in the method of actively adjusting a suspension of a vehicle based on a road surface condition of the present invention, the step S1 includes: s11, scanning the road surface in the advancing direction of the vehicle by using a laser radar to obtain road surface scanning information, and simultaneously acquiring at least one of vehicle speed, vehicle acceleration and suspension relative displacement; wherein the vehicle speed is obtained by a speed sensor, the vehicle acceleration is obtained by an inertial measurement unit, and the suspension relative displacement is obtained by a relative displacement sensor;
the step S3 includes: and S31, adjusting the vehicle suspension according to the road surface condition information and the acquired vehicle speed, vehicle acceleration and suspension relative displacement.
Further, in the method of actively adjusting a suspension of a vehicle based on a road surface condition of the present invention, the step S1 includes: s12, scanning a plurality of laser channels of the laser radar up and down and left and right to obtain the road surface scanning information, wherein the road surface scanning information comprises distance information between the laser radar and each scanning point on the road surface;
the step S3 includes: and adjusting the damping force of the vehicle suspension according to the road surface condition information to enable the damping force position of the vehicle suspension to be within a preset comfortable damping force interval.
Further, in the method of actively adjusting a suspension of a vehicle based on a road surface condition of the present invention, the step S2 includes:
s21, extracting characteristic points in the road surface scanning information according to a preset algorithm;
and S22, matching the characteristic points with a preset characteristic model to obtain the road surface condition information.
Further, in the method of actively adjusting a suspension of a vehicle based on a road surface condition of the present invention, the step S21 includes:
s211, converting the road surface scanning information into rectangular coordinate system data, wherein an X axis of the rectangular coordinate system points to the front of the vehicle, a Y axis of the rectangular coordinate system points to the left of the vehicle, and a Z axis of the rectangular coordinate system points to the upper of the vehicle;
s212, calculating the slope k of all adjacent scanning points of the same laser channel:
k＝(point[i+1].x-point[i].x)/(point[i+1].y-point[i].y)
wherein X represents data on an X axis, Y represents data on a Y axis, i is a positive integer, and point [ i ] and point [ i +1] are two adjacent scanning points;
s213, if the absolute value of the slope k is larger than a first preset threshold, the scanning point [ i +1] is taken as a characteristic point.
Further, in the method for actively adjusting a vehicle suspension based on a road surface condition of the present invention, after the step S22, the method further includes:
s221, after the feature points of the road surface unevenness information are extracted and filtered, the relative height change of the continuous road surface is calculated through the geometric relation between the road surface and the laser radar, and then the feature values of the road surface information are matched with the feature values of the preset standard grade road surface information, so that the unevenness information of the road surface is determined.
Further, in the method of actively adjusting a suspension of a vehicle based on a road surface condition of the present invention, the step S22 includes:
s222, after extracting the feature points, respectively connecting the feature points with positive and negative slopes k in the same laser channel with each other to form a feature point cluster, and sequencing the feature point clusters according to a single direction;
s223, matching the first characteristic point cluster and the last characteristic point cluster, completing point cloud between the matched characteristic point clusters through the point cloud, connecting two characteristic points outside the matched characteristic point clusters through a straight line, and further judging whether the completed point cloud and the straight line have intersection points or are crossed on an xy plane, wherein the point cloud is a scanning point of the same laser channel;
s224, if no intersection point or intersection exists, preliminarily judging whether the feature points are deceleration strips or concave-convex pits, storing the pair of feature point clusters, and emptying the pair of feature point clusters and the middle feature points;
and S225, if the intersection point or the intersection exists, pairing the first characteristic point cluster and the last-but-last characteristic point cluster, and by analogy, pairing the first characteristic point cluster and all the characteristic point clusters, and starting a new round of pairing the second characteristic point cluster until the retrieval is completed.
Further, in the method for actively adjusting a vehicle suspension based on a road surface condition according to the present invention, after the step S224, the method further includes:
s2241, classifying adjacent laser channels which may include deceleration strips or concave-convex pits in the same frame, and if point clouds of the adjacent channels, of which y-position overlap ratio is larger than a second preset threshold value, are detected, determining that the adjacent laser channels may belong to the same deceleration strip or concave-convex pit;
s2242, detecting the length of the longest channel of the extracted point clouds possibly in a plurality of laser channels in a deceleration strip or a concave-convex pit, and judging whether the length is larger than a third preset threshold value;
s2243, if not, determining that the vehicle is not a speed bump or a concave-convex pit;
s2244, if yes, judging whether continuous 3 frames of scanning data appear at least twice in the same y value range, and reducing the average x value in the two times; one frame of scanning data is data for completing one-time up-down, left-right periodic scanning of one laser channel;
s2245, if not, judging whether the deceleration strip or the concave-convex pit is available;
and S2246, if yes, determining that the vehicle is a speed bump or a concave-convex pit.
Further, in the method for actively adjusting a vehicle suspension based on a road surface condition of the present invention, after the step S2246 determines that the vehicle suspension is a deceleration strip or a pit, the method further includes:
s2247, calculating a first z-axis average value of m non-characteristic points on the outer side of the point cloud corresponding to the deceleration strip or the concave-convex pit, wherein m is an integer larger than 1; removing the head and tail characteristic points of the point cloud corresponding to the deceleration strip or the concave-convex pit, and then calculating a second z-axis average value of the corresponding coordinate points of the remaining characteristic points;
and obtaining the height of the deceleration strip or the depth and the height of the concave-convex pit from the difference value of the first z-axis average value and the second z-axis average value.
In addition, the invention also provides a vehicle, which comprises a laser radar and a controller;
the laser radar is used for scanning the road surface in the advancing direction of the vehicle to obtain road surface scanning information;
the controller adjusts the vehicle suspension using a method of actively adjusting the vehicle suspension based on the road surface condition as described above.
Further, the vehicle of the invention further comprises a speed sensor for acquiring the speed of the vehicle; and/or
An inertial measurement unit for acquiring vehicle acceleration; and/or
A relative displacement sensor for acquiring the relative displacement of the suspension;
the controller adjusts the vehicle suspension according to the road surface scanning information and the acquired vehicle speed, vehicle acceleration and suspension relative displacement.
The method for actively adjusting the vehicle suspension based on the road surface condition and the vehicle have the following beneficial effects that: according to the invention, the laser radar is used for rapidly and accurately acquiring the road surface condition information of the vehicle advancing direction, so that the vehicle suspension is actively adjusted according to the road surface control condition information, and the driving experience of a user is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flowchart of a method for actively adjusting a vehicle suspension based on road surface conditions as provided in embodiment 1;
FIG. 2 is a flowchart of a method of actively adjusting a vehicle suspension based on road surface conditions as provided in embodiment 2;
FIG. 3 is a flowchart of a method for actively adjusting a vehicle suspension based on road surface conditions according to embodiment 3;
FIGS. 4 and 5 are flowcharts of a method for actively adjusting a suspension of a vehicle based on a road surface condition according to embodiment 4;
fig. 6 is a schematic structural diagram of a vehicle according to embodiment 5.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Example 1
Referring to fig. 1, the method for actively adjusting a vehicle suspension based on a road condition according to this embodiment is applied to adjust a vehicle suspension, where vehicles include, but are not limited to, fuel automobiles, electric automobiles, passenger cars, trucks, and the like, and the suspension of the vehicle requires a controllable suspension, that is, the suspension can be actively controlled to output different damping forces, and the active control of the suspension can refer to the prior art, and is not repeated in this embodiment. The method comprises the following steps:
and S1, scanning the road surface in the advancing direction of the vehicle by using the laser radar to obtain road surface scanning information. The laser radar may be mounted on the front end of the vehicle, for example, the front bumper position, the front grille position, the roof of the vehicle, or the like, and may be capable of scanning the road surface of the front end of the vehicle. Step S1 of the present embodiment includes: and S12, scanning the laser channels of the laser radar up and down and left and right to obtain road surface scanning information, wherein the road surface scanning information comprises distance information between the laser radar and each scanning point on the road surface. That is, each laser channel of the laser radar can complete one up-down scanning and left-right scanning, road surface scanning information of each laser channel is obtained after scanning for one period, and road condition judgment can be carried out through distance information between the laser radar and each scanning point on the road surface. The ranging principle of the laser radar is not described herein again, and reference may be made to the prior art.
And S2, processing the road surface scanning information to obtain road surface condition information. Processing distance information between the laser radar and each scanning point on the road surface according to a preset algorithm, wherein the preset algorithm comprises distance judgment models of various road conditions, the distance judgment models comprise but are not limited to an unevenness model for judging unevenness of the road surface, a pit module for judging whether the road surface is concave or not, a convex model for judging whether the road surface is convex or not, a speed reduction belt model for judging whether the road surface is provided with a speed reduction belt or not, an inclination module for judging whether the road surface is inclined or not and the like, and each model can find out whether the road surface scanning information has the corresponding road condition or not according to respective distance characteristics. And processing the distance information between the laser radar and each scanning point on the road surface through the distance judging modules to further obtain the road surface condition information.
And S3, adjusting the vehicle suspension according to the road surface condition information. As can be appreciated, the requirement for the damping force output by the vehicle suspension is different under different road conditions, and step S3 includes: the damping force of the vehicle suspension is adjusted according to the road surface condition information, so that the damping force position of the vehicle suspension is within a preset comfortable damping force interval, and the driving experience of a user is improved. Including but not limited to road surface irregularities, road depressions, road bumps, speed bumps, and the like.
According to the embodiment, the laser radar is used for rapidly and accurately acquiring the road surface condition information of the vehicle advancing direction, so that the vehicle suspension is actively adjusted according to the road surface control condition information, and the driving experience of a user is improved.
Example 2
Referring to fig. 2, the method for actively adjusting a vehicle suspension based on a road condition according to this embodiment is applied to adjust a vehicle suspension, where the vehicle includes but is not limited to a fuel automobile, an electric automobile, a passenger car, a truck, and the like, and the suspension of the vehicle is required to be a controllable suspension, that is, the suspension can be actively controlled to output different damping forces, and the active control suspension can refer to the prior art, and is not described in detail in this embodiment. The method comprises the following steps:
s11, scanning the road surface in the advancing direction of the vehicle by using a laser radar to obtain road surface scanning information, and simultaneously acquiring at least one of vehicle speed, vehicle acceleration and suspension relative displacement; the speed of the vehicle is obtained through a speed sensor, and the speed sensor CAN use a speed sensor of the vehicle, namely the speed sensor CAN be obtained through a CAN bus of a vehicle control system; it is of course also possible to mount a separate speed sensor on the vehicle, which speed sensor is referred to in particular in the prior art. The acceleration of the vehicle is obtained through the inertia measuring unit, the installation position of the inertia measuring unit can be flexibly selected according to needs, and the inertia measuring unit can refer to the prior art. The suspension relative displacement is obtained by means of a relative displacement sensor, which is mounted on the vehicle suspension or on the vehicle hub, which is referred to the prior art. The laser radar may be mounted on the front end of the vehicle, for example, the front bumper position, the front grille position, the roof of the vehicle, or the like, and may be capable of scanning the road surface of the front end of the vehicle.
And S2, processing the road surface scanning information to obtain road surface condition information. Processing distance information between the laser radar and each scanning point on the road surface according to a preset algorithm, wherein the preset algorithm comprises distance judgment models of various road conditions, the distance judgment models comprise but are not limited to an unevenness model for judging unevenness of the road surface, a pit module for judging whether the road surface is concave or not, a convex model for judging whether the road surface is convex or not, a speed reduction belt model for judging whether the road surface is provided with a speed reduction belt or not, an inclination module for judging whether the road surface is inclined or not and the like, and each model can find out whether the road surface scanning information has the corresponding road condition or not according to respective distance characteristics. And processing the distance information between the laser radar and each scanning point on the road surface through the distance judging modules to further obtain the road surface condition information.
And S31, adjusting the vehicle suspension according to the road surface condition information and the acquired vehicle speed, vehicle acceleration and suspension relative displacement. It can be understood that the requirements for the damping force output by the vehicle suspension under different road conditions are different, and meanwhile, the fact that a certain time is required for the vehicle to actually reach the scanned road surface in front is considered, the driving experience of the current road surface can be influenced if the vehicle is adjusted in advance, and the adjustment effect cannot be achieved if the vehicle is adjusted in a delayed mode, so that the vehicle is adjusted in an accurate place as much as possible. The speed and the acceleration of the vehicle are required to be collected, the time for the vehicle to reach the front scanned road surface is estimated, and then the suspension is accurately adjusted, so that the vehicle suspension outputs corresponding damping force at an accurate position, and the driving experience of a user is guaranteed.
Furthermore, the current output damping force of the vehicle suspension is obtained by obtaining the current relative displacement of the suspension, so that reference is provided for the subsequent active adjustment of the damping force of the vehicle suspension.
According to the embodiment, the laser radar is used for rapidly acquiring the road condition information of the vehicle in the advancing direction, and the vehicle speed, the vehicle acceleration and the relative displacement information of the suspension are combined, so that the vehicle suspension is adjusted according to the road condition information and the acquired vehicle speed, vehicle acceleration and relative displacement of the suspension, and the driving experience of a user is improved.
Example 3
Referring to fig. 3, on the basis of the above-described embodiment, in the method of actively adjusting a vehicle suspension based on a road surface condition of the present embodiment, step S2 includes:
and S21, extracting the characteristic points in the road surface scanning information according to a preset algorithm. It can be understood that the characteristics of different road conditions on the road are different, for example, the road surface unevenness, the road surface pits, the road surface bumps, the deceleration strips and the like have corresponding characteristics, and the characteristics can be used for distinguishing different road conditions, namely, the characteristic points refer to points which accord with certain characteristics in scanning points of the laser radar, and the road surface condition can be judged through the characteristic points. Specifically, step S21 in the method for actively adjusting the suspension of the vehicle based on the road surface condition of the present embodiment includes:
s211, converting the road surface scanning information into rectangular coordinate system data, wherein the rectangular coordinate system is a three-dimensional rectangular coordinate system, an X axis of the rectangular coordinate system points to the front of the vehicle, a Y axis of the rectangular coordinate system points to the left of the vehicle, a Z axis of the rectangular coordinate system points to the upper part of the vehicle, and after a coordinate system is established, converting distance information between the laser radar and each scanning point on the road surface into parameters of each scanning point in the three-dimensional rectangular coordinate system.
S212, calculating the slope k of all adjacent scanning points of the same laser channel:
k＝(point[i+1].x-point[i].x)/(point[i+1].y-point[i].y)
wherein X represents data on an X axis, Y represents data on a Y axis, i is a positive integer, and point [ i ] and point [ i +1] are two adjacent scanning points.
S213, if the absolute value of the slope k is larger than a first preset threshold, the scanning point [ i +1] is taken as a characteristic point. The slope of the edge of the deceleration strip or the concave-convex pit can be detected according to different absolute value thresholds of the slope k. Alternatively, the absolute value of the slope k takes 0.5.
And S22, matching the characteristic points with the preset characteristic model to obtain the road surface condition information. It can be understood that the characteristics of different road conditions on the road are different, for example, the road surface unevenness, the road surface pits, the road surface bumps, the deceleration strips and the like all have corresponding characteristics, and these characteristics can be used for distinguishing different road conditions, and the preset characteristic model corresponding to each road condition is set in the embodiment. The preset feature models comprise but are not limited to an unevenness model for judging the unevenness of the road surface, a pit module for judging whether the road surface is concave or not, a convex model for judging whether the road surface is convex or not, a deceleration strip model for judging whether the road surface is a deceleration strip or not, an inclined module for judging whether the road surface is inclined or not and the like, the corresponding feature points of each model are different, and in turn, the corresponding preset feature models can be determined according to the obtained feature points, so that the road condition is determined.
In the embodiment, the slope k is used for determining the characteristic points, and then the characteristic points are matched with the preset characteristic model to obtain the road surface condition information.
Example 4
On the basis of embodiment 3, the method for actively adjusting the vehicle suspension based on the road surface condition of the present embodiment further includes, after step S22, the determination of the unevenness information of the road surface:
s221, after the feature points of the road surface unevenness information are extracted and filtered, the relative height change of the continuous road surface is calculated through the geometric relation between the road surface and the laser radar, and then the feature values of the road surface information are matched with the feature values of the preset standard grade road surface information, so that the unevenness information of the road surface is determined. It can be understood that the road unevenness information corresponding to different grades of roads is different, for example, the road unevenness of an expressway, a provincial highway, a city highway, a rural highway, etc., and the difference between the road unevenness information is large.
Referring to fig. 4, the method for actively adjusting the vehicle suspension based on the road surface condition of the present embodiment further includes determining a deceleration strip or a concave-convex pit, that is, step S22 includes:
s222, after extracting the feature points, respectively connecting the feature points with positive and negative slopes k in the same laser channel with each other to form a feature point cluster, namely the feature point cluster is a set of feature points with the same or similar slopes, and sequencing the feature point clusters in a single direction, wherein the feature point cluster can be from left to right, from right to left and the like.
And S223, matching the first characteristic point cluster and the last characteristic point cluster, completing point cloud between the matched characteristic point clusters through the point cloud, connecting two characteristic points outside the matched characteristic point clusters through a straight line, and judging whether the completed point cloud and the straight line have intersection points or cross points on an xy plane (a coordinate plane formed by an X axis and a Y axis), wherein the point cloud is a scanning point of the same laser channel.
And S224, if no intersection point or intersection exists, preliminarily judging whether the feature points are deceleration strips or concave-convex pits, storing the pair of feature point clusters, and emptying the pair of feature point clusters and the middle feature points.
And S225, if the intersection points or the intersections exist, judging that the intersection points or the intersections do not belong to a deceleration strip or a concave-convex pit, pairing the first characteristic point cluster and the last-but-one characteristic point cluster, and by analogy, pairing the first characteristic point cluster and all the characteristic point clusters, and then starting a new round of pairing the second characteristic point cluster until the retrieval is completed.
Further, referring to fig. 5, after step S224, the method further includes:
s2241, classifying adjacent laser channels which may include deceleration strips or concave-convex pits in the same frame, and if the point cloud of the adjacent channel, of which y position coincidence degree is greater than a second preset threshold value, is detected, determining that the adjacent laser channels may belong to the same deceleration strip or concave-convex pit.
S2242, detecting the length of the longest channel of the extracted point clouds possibly being a plurality of laser channels in a deceleration strip or a concave-convex pit, and judging whether the length is larger than a third preset threshold value.
And S2243, if not, determining that the vehicle is not a speed bump or a concave-convex pit.
S2244, if yes, judging whether continuous 3 frames of scanning data appear at least twice in the same y value range, and reducing the average x value in the two times; one frame of scanning data is data for completing one-time scanning of up, down, left and right of a laser channel.
And S2245, if the scanning data of the continuous 3 frames do not appear at least twice in the same y value range, judging that the scanning data are not a deceleration strip or a concave-convex pit.
And S2246, if the scanning data of the continuous 3 frames appear at least twice in the same y value range, judging and determining the scanning data as a deceleration strip or a concave-convex pit.
Further, in the method for actively adjusting the vehicle suspension based on the road surface condition in the embodiment, after the deceleration strip or the pit and the pit are determined in step S2246, the height of the deceleration strip or the depth of the pit and the pit may also be obtained, which specifically includes the following steps:
s2247, calculating a first z-axis average value of m non-characteristic points on the outer side of the point cloud corresponding to the deceleration strip or the concave-convex pit, wherein m is an integer larger than 1; removing the head and tail characteristic points of the point cloud corresponding to the deceleration strip or the concave-convex pit, and then calculating a second z-axis average value of the corresponding coordinate points of the remaining characteristic points; and obtaining the height of the deceleration strip or the depth and the height of the concave-convex pit from the difference value of the first z-axis average value and the second z-axis average value. According to the embodiment, the deceleration strip or the concave-convex pit is arranged on the front road surface, the height of the deceleration strip or the depth and the height of the concave-convex pit are calculated, so that the suspension can be adjusted more accurately, the corresponding damping force of the vehicle suspension is output at the accurate position, and the driving experience of a user is guaranteed.
According to the method, the slope k is used for determining the characteristic points, the characteristic point clusters are obtained according to the characteristic points, whether the road surface comprises the deceleration strip or the concave-convex pit is judged by utilizing the characteristic point clusters, the vehicle suspension is actively adjusted according to the road surface control condition information, and the driving experience of a user is improved.
Example 5
Referring to fig. 6, the vehicle of this embodiment includes but is not limited to a fuel automobile, an electric automobile, a passenger car, a truck, etc., the suspension of the vehicle is required to be a controllable suspension, that is, the suspension can be actively controlled to output different damping forces, the active control suspension can refer to the prior art, and the details of this embodiment are not repeated. The vehicle comprises a laser radar and a controller, wherein the laser radar is installed at the front end of the vehicle, such as the position of a front bumper or the position of a front air grid, and the laser radar can scan the road surface at the front end of the vehicle. The laser radar is used for scanning a road surface in the advancing direction of the vehicle to obtain road surface scanning information, and the controller adjusts the vehicle suspension by using the method for actively adjusting the vehicle suspension based on the road surface condition as in the embodiment. Alternatively, a separate processor may be provided for executing the method of actively adjusting the suspension of the vehicle based on the road surface condition of the above embodiment, and the ECU of the vehicle itself may also be used to execute the method of actively adjusting the suspension of the vehicle based on the road surface condition of the above embodiment.
According to the embodiment, the laser radar is used for rapidly and accurately acquiring the road surface condition information of the vehicle advancing direction, so that the vehicle suspension is actively adjusted according to the road surface control condition information, and the driving experience of a user is improved.
Optionally, the vehicle of some embodiments further includes a speed sensor for acquiring the speed of the vehicle, and the speed sensor may use a speed sensor of the vehicle, that is, may be acquired through a CAN bus of a vehicle control system; it is of course also possible to mount a separate speed sensor on the vehicle, which speed sensor is referred to in particular in the prior art.
Alternatively, the vehicle of some embodiments further includes an inertial measurement unit for acquiring the acceleration of the vehicle, the inertial measurement unit may flexibly select the installation position as needed, and the inertial measurement unit may refer to the prior art.
It can be understood that the requirements for the damping force output by the vehicle suspension under different road conditions are different, and meanwhile, the fact that a certain time is required for the vehicle to actually reach the scanned road surface in front is considered, the driving experience of the current road surface can be influenced if the vehicle is adjusted in advance, and the adjustment effect cannot be achieved if the vehicle is adjusted in a delayed mode, so that the vehicle is adjusted in an accurate place as much as possible. The speed and the acceleration of the vehicle are required to be collected, the time for the vehicle to reach the front scanned road surface is estimated, and then the suspension is accurately adjusted, so that the vehicle suspension outputs corresponding damping force at an accurate position, and the driving experience of a user is guaranteed.
Alternatively, the vehicle of some embodiments further comprises a relative displacement sensor for acquiring the relative displacement of the suspension, the relative displacement sensor being mounted on the vehicle suspension or on the vehicle hub, the relative displacement sensor being as referred to in the art. The current output damping force of the vehicle suspension is obtained by obtaining the current relative displacement of the suspension, and reference is provided for the subsequent active adjustment of the damping force of the vehicle suspension.
According to the embodiment, the laser radar is used for rapidly acquiring the road condition information of the vehicle in the advancing direction, and the vehicle speed, the vehicle acceleration and the relative displacement information of the suspension are combined, so that the vehicle suspension is adjusted according to the road condition information and the acquired vehicle speed, vehicle acceleration and relative displacement of the suspension, and the driving experience of a user is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (11)
1. A method of actively adjusting a vehicle suspension based on a road condition, comprising:
s1, scanning the road surface in the advancing direction of the vehicle by using a laser radar to obtain road surface scanning information;
s2, processing the road surface scanning information to obtain road surface condition information;
and S3, adjusting the vehicle suspension according to the road surface condition information.
2. A method for actively adjusting a vehicle suspension based on a road surface condition according to claim 1, wherein said step S1 includes: s11, scanning the road surface in the advancing direction of the vehicle by using a laser radar to obtain road surface scanning information, and simultaneously acquiring at least one of vehicle speed, vehicle acceleration and suspension relative displacement; wherein the vehicle speed is obtained by a speed sensor, the vehicle acceleration is obtained by an inertial measurement unit, and the suspension relative displacement is obtained by a relative displacement sensor;
the step S3 includes: and S31, adjusting the vehicle suspension according to the road surface condition information and the acquired vehicle speed, vehicle acceleration and suspension relative displacement.
3. A method for actively adjusting a vehicle suspension based on a road surface condition according to claim 1 or 2, wherein said step S1 includes: s12, scanning a plurality of laser channels of the laser radar up and down and left and right to obtain the road surface scanning information, wherein the road surface scanning information comprises distance information between the laser radar and each scanning point on the road surface;
the step S3 includes: and adjusting the damping force of the vehicle suspension according to the road surface condition information to enable the damping force position of the vehicle suspension to be within a preset comfortable damping force interval.
4. A method for actively adjusting a vehicle suspension based on a road surface condition according to claim 3, wherein said step S2 includes:
s21, extracting characteristic points in the road surface scanning information according to a preset algorithm;
and S22, matching the characteristic points with a preset characteristic model to obtain the road surface condition information.
5. A method for actively adjusting the suspension of a vehicle on the basis of the road surface condition as set forth in claim 4, wherein said step S21 includes:
s211, converting the road surface scanning information into rectangular coordinate system data, wherein an X axis of the rectangular coordinate system points to the front of the vehicle, a Y axis of the rectangular coordinate system points to the left of the vehicle, and a Z axis of the rectangular coordinate system points to the upper of the vehicle;
s212, calculating the slope k of all adjacent scanning points of the same laser channel:
k＝(point[i+1].x-point[i].x)/(point[i+1].y-point[i].y)
wherein X represents data on an X axis, Y represents data on a Y axis, i is a positive integer, and point [ i ] and point [ i +1] are two adjacent scanning points;
s213, if the absolute value of the slope k is larger than a first preset threshold, the scanning point [ i +1] is taken as a characteristic point.
6. A method for actively adjusting the suspension of a vehicle based on the condition of a road surface as set forth in claim 5, further comprising, after said step S22:
s221, after the feature points of the road surface unevenness information are extracted and filtered, the relative height change of the continuous road surface is calculated through the geometric relation between the road surface and the laser radar, and then the feature values of the road surface information are matched with the feature values of the preset standard grade road surface information, so that the unevenness information of the road surface is determined.
7. A method for actively adjusting the suspension of a vehicle on the basis of the road surface condition as set forth in claim 5, wherein said step S22 includes:
s222, after extracting the feature points, respectively connecting the feature points with positive and negative slopes k in the same laser channel with each other to form a feature point cluster, and sequencing the feature point clusters according to a single direction;
s223, matching the first characteristic point cluster and the last characteristic point cluster, completing point cloud between the matched characteristic point clusters through the point cloud, connecting two characteristic points outside the matched characteristic point clusters through a straight line, and further judging whether the completed point cloud and the straight line have intersection points or are crossed on an xy plane, wherein the point cloud is a scanning point of the same laser channel;
s224, if no intersection point or intersection exists, preliminarily judging whether the feature points are deceleration strips or concave-convex pits, storing the pair of feature point clusters, and emptying the pair of feature point clusters and the middle feature points;
and S225, if the intersection point or the intersection exists, pairing the first characteristic point cluster and the last-but-last characteristic point cluster, and by analogy, pairing the first characteristic point cluster and all the characteristic point clusters, and starting a new round of pairing the second characteristic point cluster until the retrieval is completed.
8. The method for actively adjusting the suspension of a vehicle based on the condition of a road surface as set forth in claim 7, further comprising, after said step S224:
s2241, classifying adjacent laser channels which may include deceleration strips or concave-convex pits in the same frame, and if point clouds of the adjacent channels, of which y-position overlap ratio is larger than a second preset threshold value, are detected, determining that the adjacent laser channels may belong to the same deceleration strip or concave-convex pit;
s2242, detecting the length of the longest channel of the extracted point clouds possibly in a plurality of laser channels in a deceleration strip or a concave-convex pit, and judging whether the length is larger than a third preset threshold value;
s2243, if not, determining that the vehicle is not a speed bump or a concave-convex pit;
s2244, if yes, judging whether continuous 3 frames of scanning data appear at least twice in the same y value range, and reducing the average x value in the two times; one frame of scanning data is data for completing one-time up-down, left-right periodic scanning of one laser channel;
s2245, if not, judging whether the deceleration strip or the concave-convex pit is available;
and S2246, if yes, determining that the vehicle is a speed bump or a concave-convex pit.
9. A method for actively adjusting a vehicle suspension based on a road surface condition as claimed in claim 8, wherein after the step S2246 of determining a deceleration strip or a pit, the method further comprises:
s2247, calculating a first z-axis average value of m non-characteristic points on the outer side of the point cloud corresponding to the deceleration strip or the concave-convex pit, wherein m is an integer larger than 1; removing the head and tail characteristic points of the point cloud corresponding to the deceleration strip or the concave-convex pit, and then calculating a second z-axis average value of the corresponding coordinate points of the remaining characteristic points;
and obtaining the height of the deceleration strip or the depth and the height of the concave-convex pit from the difference value of the first z-axis average value and the second z-axis average value.
10. A vehicle comprising a lidar and a controller;
the laser radar is used for scanning the road surface in the advancing direction of the vehicle to obtain road surface scanning information;
the controller adjusts the vehicle suspension using the method of actively adjusting the vehicle suspension based on the road surface condition as claimed in any one of claims 1 to 9.
11. The vehicle of claim 10, further comprising a speed sensor for acquiring a vehicle speed; and/or
An inertial measurement unit for acquiring vehicle acceleration; and/or
A relative displacement sensor for acquiring the relative displacement of the suspension;
the controller adjusts the vehicle suspension according to the road surface scanning information and the acquired vehicle speed, vehicle acceleration and suspension relative displacement.
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